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<pre><span class="sourceLineNo">001</span>/*<a name="line.1"></a>
<span class="sourceLineNo">002</span> * To change this license header, choose License Headers in Project Properties.<a name="line.2"></a>
<span class="sourceLineNo">003</span> * To change this template file, choose Tools | Templates<a name="line.3"></a>
<span class="sourceLineNo">004</span> * and open the template in the editor.<a name="line.4"></a>
<span class="sourceLineNo">005</span> */<a name="line.5"></a>
<span class="sourceLineNo">006</span>package edu.wpi.first.wpilibj.templates.subsystems;<a name="line.6"></a>
<span class="sourceLineNo">007</span><a name="line.7"></a>
<span class="sourceLineNo">008</span>import edu.wpi.first.wpilibj.Counter;<a name="line.8"></a>
<span class="sourceLineNo">009</span>import edu.wpi.first.wpilibj.DigitalInput;<a name="line.9"></a>
<span class="sourceLineNo">010</span>import edu.wpi.first.wpilibj.Talon;<a name="line.10"></a>
<span class="sourceLineNo">011</span>import edu.wpi.first.wpilibj.command.Subsystem;<a name="line.11"></a>
<span class="sourceLineNo">012</span>import edu.wpi.first.wpilibj.templates.RobotMap;<a name="line.12"></a>
<span class="sourceLineNo">013</span><a name="line.13"></a>
<span class="sourceLineNo">014</span>/**<a name="line.14"></a>
<span class="sourceLineNo">015</span> *<a name="line.15"></a>
<span class="sourceLineNo">016</span> * @author lenovo<a name="line.16"></a>
<span class="sourceLineNo">017</span> */<a name="line.17"></a>
<span class="sourceLineNo">018</span>public class Lifter extends Subsystem {<a name="line.18"></a>
<span class="sourceLineNo">019</span>    // Put methods for controlling this subsystem<a name="line.19"></a>
<span class="sourceLineNo">020</span>    // here. Call these from Commands.<a name="line.20"></a>
<span class="sourceLineNo">021</span>    <a name="line.21"></a>
<span class="sourceLineNo">022</span>  <a name="line.22"></a>
<span class="sourceLineNo">023</span>     private Talon lifterMover1,lifterMover2;<a name="line.23"></a>
<span class="sourceLineNo">024</span>     private  DigitalInput top, bottom, cycleSensor;<a name="line.24"></a>
<span class="sourceLineNo">025</span>     private Counter cycleCounter;<a name="line.25"></a>
<span class="sourceLineNo">026</span>     public int numOfCycles=0;    <a name="line.26"></a>
<span class="sourceLineNo">027</span> <a name="line.27"></a>
<span class="sourceLineNo">028</span>    public Lifter()<a name="line.28"></a>
<span class="sourceLineNo">029</span>        {<a name="line.29"></a>
<span class="sourceLineNo">030</span>            lifterMover1 = RobotMap.lifterMover1;<a name="line.30"></a>
<span class="sourceLineNo">031</span>            lifterMover2 = RobotMap.lifterMover2;<a name="line.31"></a>
<span class="sourceLineNo">032</span>            top = RobotMap.top;<a name="line.32"></a>
<span class="sourceLineNo">033</span>            bottom = RobotMap.bottom;<a name="line.33"></a>
<span class="sourceLineNo">034</span>            cycleSensor = RobotMap.cycleSensor;<a name="line.34"></a>
<span class="sourceLineNo">035</span>            cycleCounter = new Counter ();<a name="line.35"></a>
<span class="sourceLineNo">036</span>            cycleCounter.start();<a name="line.36"></a>
<span class="sourceLineNo">037</span>        }<a name="line.37"></a>
<span class="sourceLineNo">038</span> <a name="line.38"></a>
<span class="sourceLineNo">039</span>    public void setSpeedLifter(double speed)<a name="line.39"></a>
<span class="sourceLineNo">040</span>            {<a name="line.40"></a>
<span class="sourceLineNo">041</span>                if(lifterMover1.getSpeed()!=0)<a name="line.41"></a>
<span class="sourceLineNo">042</span>                    if (lifterMover1.getSpeed() * speed &lt;= 0) {<a name="line.42"></a>
<span class="sourceLineNo">043</span>                        if (lifterMover1.getSpeed() &gt; 0) <a name="line.43"></a>
<span class="sourceLineNo">044</span>                            numOfCycles += cycleCounter.get();<a name="line.44"></a>
<span class="sourceLineNo">045</span>                        else <a name="line.45"></a>
<span class="sourceLineNo">046</span>                            numOfCycles -= cycleCounter.get();<a name="line.46"></a>
<span class="sourceLineNo">047</span>                        cycleCounter.reset();<a name="line.47"></a>
<span class="sourceLineNo">048</span>                    }<a name="line.48"></a>
<span class="sourceLineNo">049</span>                lifterMover1.set(speed);<a name="line.49"></a>
<span class="sourceLineNo">050</span>                lifterMover2.set (speed);<a name="line.50"></a>
<span class="sourceLineNo">051</span>                <a name="line.51"></a>
<span class="sourceLineNo">052</span>            }<a name="line.52"></a>
<span class="sourceLineNo">053</span>    public double getSpeedLifter1()<a name="line.53"></a>
<span class="sourceLineNo">054</span>            {<a name="line.54"></a>
<span class="sourceLineNo">055</span>                return lifterMover1.get ();<a name="line.55"></a>
<span class="sourceLineNo">056</span>            }<a name="line.56"></a>
<span class="sourceLineNo">057</span>    public double getSpeedLifter2()<a name="line.57"></a>
<span class="sourceLineNo">058</span>            {<a name="line.58"></a>
<span class="sourceLineNo">059</span>                return lifterMover2.get ();<a name="line.59"></a>
<span class="sourceLineNo">060</span>            }<a name="line.60"></a>
<span class="sourceLineNo">061</span>    public boolean getTop()<a name="line.61"></a>
<span class="sourceLineNo">062</span>            {<a name="line.62"></a>
<span class="sourceLineNo">063</span>                return top.get();<a name="line.63"></a>
<span class="sourceLineNo">064</span>            }<a name="line.64"></a>
<span class="sourceLineNo">065</span>     public boolean getBottom()<a name="line.65"></a>
<span class="sourceLineNo">066</span>            {<a name="line.66"></a>
<span class="sourceLineNo">067</span>                return bottom.get();<a name="line.67"></a>
<span class="sourceLineNo">068</span>            }<a name="line.68"></a>
<span class="sourceLineNo">069</span>      <a name="line.69"></a>
<span class="sourceLineNo">070</span>    public int getNumOfCycles ()<a name="line.70"></a>
<span class="sourceLineNo">071</span>            {<a name="line.71"></a>
<span class="sourceLineNo">072</span>                return cycleCounter.get();<a name="line.72"></a>
<span class="sourceLineNo">073</span>            }<a name="line.73"></a>
<span class="sourceLineNo">074</span>    public void resetCycles()<a name="line.74"></a>
<span class="sourceLineNo">075</span>    {<a name="line.75"></a>
<span class="sourceLineNo">076</span>        cycleCounter.reset();<a name="line.76"></a>
<span class="sourceLineNo">077</span>    }<a name="line.77"></a>
<span class="sourceLineNo">078</span>   public void startCycles()<a name="line.78"></a>
<span class="sourceLineNo">079</span>   {<a name="line.79"></a>
<span class="sourceLineNo">080</span>       cycleCounter.start();<a name="line.80"></a>
<span class="sourceLineNo">081</span>   }<a name="line.81"></a>
<span class="sourceLineNo">082</span>    public void initDefaultCommand() {<a name="line.82"></a>
<span class="sourceLineNo">083</span>        // Set the default command for a subsystem here.<a name="line.83"></a>
<span class="sourceLineNo">084</span>        //setDefaultCommand(new MySpecialCommand());<a name="line.84"></a>
<span class="sourceLineNo">085</span>        <a name="line.85"></a>
<span class="sourceLineNo">086</span>        <a name="line.86"></a>
<span class="sourceLineNo">087</span>    }<a name="line.87"></a>
<span class="sourceLineNo">088</span>}<a name="line.88"></a>




























































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